OpenRaiser/Intern-Atlas huggingface dataset:
RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion
Venue: arXiv cs.RO 2024
Year: 2024

This paper presents a control framework that combines model-based optimal control and reinforcement learning (RL) to achieve versatile and robust legged locomotion. Our approach enhances the RL training process by incorporating on-demand reference motions generated through finite-horizon optimal control, covering a broad range of velocities and gaits. These reference motions serve as targets for the RL policy to imitate, leading to the development of robust control policies that can be learned with reliability. Furthermore, by utilizing realistic simulation data that captures whole-body dynamics, RL effectively overcomes the inherent limitations in reference motions imposed by modeling simplifications. We validate the robustness and controllability of the RL training process within our framework through a series of experiments. In these experiments, our method showcases its capability to generalize reference motions and effectively handle more complex locomotion tasks that may pose challenges for the simplified model, thanks to RL's flexibility. Additionally, our framework effortlessly supports the training of control policies for robots with diverse dimensions, eliminating the necessity for robot-specific adjustments in the reward function and hyperparameters.
Adaptive Sparsity Level during Training for Efficient Time Series Forecasting with Transformers
Venue: arXiv cs.LG 2024
Year: 2024

Efficient time series forecasting has become critical for real-world applications, particularly with deep neural networks (DNNs). Efficiency in DNNs can be achieved through sparse connectivity and reducing the model size. However, finding the sparsity level automatically during training remains challenging due to the heterogeneity in the loss-sparsity tradeoffs across the datasets. In this paper, we propose \enquote{\textbf{P}runing with \textbf{A}daptive \textbf{S}parsity \textbf{L}evel} (\textbf{PALS}), to automatically seek a decent balance between loss and sparsity, all without the need for a predefined sparsity level. PALS draws inspiration from sparse training and during-training methods. It introduces the novel "expand" mechanism in training sparse neural networks, allowing the model to dynamically shrink, expand, or remain stable to find a proper sparsity level. In this paper, we focus on achieving efficiency in transformers known for their excellent time series forecasting performance but high computational cost. Nevertheless, PALS can be applied directly to any DNN. To this aim, we demonstrate its effectiveness also on the DLinear model. Experimental results on six benchmark datasets and five state-of-the-art (SOTA) transformer variants show that PALS substantially reduces model size while maintaining comparable performance to the dense model. More interestingly, PALS even outperforms the dense model, in \textcolor{blue}{12} and \textcolor{blue}{14} cases out of 30 cases in terms of MSE and MAE loss, respectively, while reducing \textcolor{blue}{65\%} parameter count and \textcolor{blue}{63\%} FLOPs on average. Our code and supplementary material are available on Github\footnote{\tiny \url{https://github.com/zahraatashgahi/PALS}}.
Determinantal Point Process Attention Over Grid Cell Code Supports Out of Distribution Generalization
Venue: arXiv cs.LG 2024
Year: 2024

Deep neural networks have made tremendous gains in emulating human-like intelligence, and have been used increasingly as ways of understanding how the brain may solve the complex computational problems on which this relies. However, these still fall short of, and therefore fail to provide insight into how the brain supports strong forms of generalization of which humans are capable. One such case is out-of-distribution (OOD) generalization-successful performance on test examples that lie outside the distribution of the training set. Here, we identify properties of processing in the brain that may contribute to this ability. We describe a two-part algorithm that draws on specific features of neural computation to achieve OOD generalization, and provide a proof of concept by evaluating performance on two challenging cognitive tasks. First we draw on the fact that the mammalian brain represents metric spaces using grid cell code (e.g., in the entorhinal cortex): abstract representations of relational structure, organized in recurring motifs that cover the representational space. Second, we propose an attentional mechanism that operates over the grid cell code using Determinantal Point Process (DPP), that we call DPP attention (DPP-A) -- a transformation that ensures maximum sparseness in the coverage of that space. We show that a loss function that combines standard task-optimized error with DPP-A can exploit the recurring motifs in the grid cell code, and can be integrated with common architectures to achieve strong OOD generalization performance on analogy and arithmetic tasks. This provides both an interpretation of how the grid cell code in the mammalian brain may contribute to generalization performance, and at the same time a potential means for improving such capabilities in artificial neural networks.
Black-Box Anomaly Attribution
Venue: arXiv cs.LG 2024
Year: 2024

When the prediction of a black-box machine learning model deviates from the true observation, what can be said about the reason behind that deviation? This is a fundamental and ubiquitous question that the end user in a business or industrial AI application often asks. The deviation may be due to a sub-optimal black-box model, or it may be simply because the sample in question is an outlier. In either case, one would ideally wish to obtain some form of attribution score -- a value indicative of the extent to which an input variable is responsible for the anomaly. In the present paper we address this task of ``anomaly attribution,'' particularly in the setting in which the model is black-box and the training data are not available. Specifically, we propose a novel likelihood-based attribution framework we call the ``likelihood compensation (LC),'' in which the responsibility score is equated with the correction on each input variable needed to attain the highest possible likelihood. We begin by showing formally why mainstream model-agnostic explanation methods, such as the local linear surrogate modeling and Shapley values, are not designed to explain anomalies. In particular, we show that they are ``deviation-agnostic,'' namely, that their explanations are blind to the fact that there is a deviation in the model prediction for the sample of interest. We do this by positioning these existing methods under the unified umbrella of a function family we call the ``integrated gradient family.'' We validate the effectiveness of the proposed LC approach using publicly available data sets. We also conduct a case study with a real-world building energy prediction task and confirm its usefulness in practice based on expert feedback.
Diff-Instruct: A Universal Approach for Transferring Knowledge From Pre-trained Diffusion Models
Venue: arXiv cs.LG 2024
Year: 2024

Due to the ease of training, ability to scale, and high sample quality, diffusion models (DMs) have become the preferred option for generative modeling, with numerous pre-trained models available for a wide variety of datasets. Containing intricate information about data distributions, pre-trained DMs are valuable assets for downstream applications. In this work, we consider learning from pre-trained DMs and transferring their knowledge to other generative models in a data-free fashion. Specifically, we propose a general framework called Diff-Instruct to instruct the training of arbitrary generative models as long as the generated samples are differentiable with respect to the model parameters. Our proposed Diff-Instruct is built on a rigorous mathematical foundation where the instruction process directly corresponds to minimizing a novel divergence we call Integral Kullback-Leibler (IKL) divergence. IKL is tailored for DMs by calculating the integral of the KL divergence along a diffusion process, which we show to be more robust in comparing distributions with misaligned supports. We also reveal non-trivial connections of our method to existing works such as DreamFusion, and generative adversarial training. To demonstrate the effectiveness and universality of Diff-Instruct, we consider two scenarios: distilling pre-trained diffusion models and refining existing GAN models. The experiments on distilling pre-trained diffusion models show that Diff-Instruct results in state-of-the-art single-step diffusion-based models. The experiments on refining GAN models show that the Diff-Instruct can consistently improve the pre-trained generators of GAN models across various settings.
Fairness of ChatGPT
Venue: arXiv cs.LG 2024
Year: 2024

Understanding and addressing unfairness in LLMs are crucial for responsible AI deployment. However, there is a limited number of quantitative analyses and in-depth studies regarding fairness evaluations in LLMs, especially when applying LLMs to high-stakes fields. This work aims to fill this gap by providing a systematic evaluation of the effectiveness and fairness of LLMs using ChatGPT as a study case. We focus on assessing ChatGPT's performance in high-takes fields including education, criminology, finance and healthcare. To conduct a thorough evaluation, we consider both group fairness and individual fairness metrics. We also observe the disparities in ChatGPT's outputs under a set of biased or unbiased prompts. This work contributes to a deeper understanding of LLMs' fairness performance, facilitates bias mitigation and fosters the development of responsible AI systems.
How Effective Are Neural Networks for Fixing Security Vulnerabilities
Venue: arXiv cs.SE 2024
Year: 2024

Security vulnerability repair is a difficult task that is in dire need of automation. Two groups of techniques have shown promise: (1) large code language models (LLMs) that have been pre-trained on source code for tasks such as code completion, and (2) automated program repair (APR) techniques that use deep learning (DL) models to automatically fix software bugs. This paper is the first to study and compare Java vulnerability repair capabilities of LLMs and DL-based APR models. The contributions include that we (1) apply and evaluate five LLMs (Codex, CodeGen, CodeT5, PLBART and InCoder), four fine-tuned LLMs, and four DL-based APR techniques on two real-world Java vulnerability benchmarks (Vul4J and VJBench), (2) design code transformations to address the training and test data overlapping threat to Codex, (3) create a new Java vulnerability repair benchmark VJBench, and its transformed version VJBench-trans and (4) evaluate LLMs and APR techniques on the transformed vulnerabilities in VJBench-trans. Our findings include that (1) existing LLMs and APR models fix very few Java vulnerabilities. Codex fixes 10.2 (20.4%), the most number of vulnerabilities. (2) Fine-tuning with general APR data improves LLMs' vulnerability-fixing capabilities. (3) Our new VJBench reveals that LLMs and APR models fail to fix many Common Weakness Enumeration (CWE) types, such as CWE-325 Missing cryptographic step and CWE-444 HTTP request smuggling. (4) Codex still fixes 8.3 transformed vulnerabilities, outperforming all the other LLMs and APR models on transformed vulnerabilities. The results call for innovations to enhance automated Java vulnerability repair such as creating larger vulnerability repair training data, tuning LLMs with such data, and applying code simplification transformation to facilitate vulnerability repair.
UniScene: Multi-Camera Unified Pre-training via 3D Scene Reconstruction for Autonomous Driving
Venue: arXiv cs.CV 2024
Year: 2024

Multi-camera 3D perception has emerged as a prominent research field in autonomous driving, offering a viable and cost-effective alternative to LiDAR-based solutions. The existing multi-camera algorithms primarily rely on monocular 2D pre-training. However, the monocular 2D pre-training overlooks the spatial and temporal correlations among the multi-camera system. To address this limitation, we propose the first multi-camera unified pre-training framework, called UniScene, which involves initially reconstructing the 3D scene as the foundational stage and subsequently fine-tuning the model on downstream tasks. Specifically, we employ Occupancy as the general representation for the 3D scene, enabling the model to grasp geometric priors of the surrounding world through pre-training. A significant benefit of UniScene is its capability to utilize a considerable volume of unlabeled image-LiDAR pairs for pre-training purposes. The proposed multi-camera unified pre-training framework demonstrates promising results in key tasks such as multi-camera 3D object detection and surrounding semantic scene completion. When compared to monocular pre-training methods on the nuScenes dataset, UniScene shows a significant improvement of about 2.0% in mAP and 2.0% in NDS for multi-camera 3D object detection, as well as a 3% increase in mIoU for surrounding semantic scene completion. By adopting our unified pre-training method, a 25% reduction in 3D training annotation costs can be achieved, offering significant practical value for the implementation of real-world autonomous driving. Codes are publicly available at https://github.com/chaytonmin/UniScene.
SENet: A Spectral Filtering Approach to Represent Exemplars for Few-shot Learning
Venue: arXiv cs.CV 2024
Year: 2024

Prototype is widely used to represent internal structure of category for few-shot learning, which was proposed as a simple inductive bias to address the issue of overfitting. However, since prototype representation is normally averaged from individual samples, it can appropriately to represent some classes but with underfitting to represent some others that can be batter represented by exemplars. To address this problem, in this work, we propose Shrinkage Exemplar Networks (SENet) for few-shot classification. In SENet, categories are represented by the embedding of samples that shrink towards their mean via spectral filtering. Furthermore, a shrinkage exemplar loss is proposed to replace the widely used cross entropy loss for capturing the information of individual shrinkage samples. Several experiments were conducted on miniImageNet, tiered-ImageNet and CIFAR-FS datasets. The experimental results demonstrate the effectiveness of our proposed method.
High-Gain Disturbance Observer for Robust Trajectory Tracking of Quadrotors
Venue: arXiv cs.RO 2024
Year: 2024

This paper presents a simple method to boost the robustness of quadrotors in trajectory tracking. The presented method features a high-gain disturbance observer (HGDO) that provides disturbance estimates in real-time. The estimates are then used in a trajectory control law to compensate for disturbance effects. We present theoretical convergence results showing that the proposed HGDO can quickly converge to an adjustable neighborhood of actual disturbance values. We will then integrate the disturbance estimates with a typical robust trajectory controller, namely sliding mode control (SMC), and present Lyapunov stability analysis to establish the boundedness of trajectory tracking errors. However, our stability analysis can be easily extended to other Lyapunov-based controllers to develop different HGDO-based controllers with formal stability guarantees. We evaluate the proposed HGDO-based control method using both simulation and laboratory experiments in various scenarios and in the presence of external disturbances. Our results indicate that the addition of HGDO to a quadrotor trajectory controller can significantly improve the accuracy and precision of trajectory tracking in the presence of external disturbances.
Generating with Confidence: Uncertainty Quantification for Black-box Large Language Models
Venue: arXiv cs.CL 2024
Year: 2024

Large language models (LLMs) specializing in natural language generation (NLG) have recently started exhibiting promising capabilities across a variety of domains. However, gauging the trustworthiness of responses generated by LLMs remains an open challenge, with limited research on uncertainty quantification (UQ) for NLG. Furthermore, existing literature typically assumes white-box access to language models, which is becoming unrealistic either due to the closed-source nature of the latest LLMs or computational constraints. In this work, we investigate UQ in NLG for *black-box* LLMs. We first differentiate *uncertainty* vs *confidence*: the former refers to the ``dispersion'' of the potential predictions for a fixed input, and the latter refers to the confidence on a particular prediction/generation. We then propose and compare several confidence/uncertainty measures, applying them to *selective NLG* where unreliable results could either be ignored or yielded for further assessment. Experiments were carried out with several popular LLMs on question-answering datasets (for evaluation purposes). Results reveal that a simple measure for the semantic dispersion can be a reliable predictor of the quality of LLM responses, providing valuable insights for practitioners on uncertainty management when adopting LLMs. The code to replicate our experiments is available at https://github.com/zlin7/UQ-NLG.
Stable Anisotropic Regularization
Venue: arXiv cs.CL 2024
Year: 2024

Given the success of Large Language Models (LLMs), there has been considerable interest in studying the properties of model activations. The literature overwhelmingly agrees that LLM representations are dominated by a few "outlier dimensions" with exceedingly high variance and magnitude. Several studies in Natural Language Processing (NLP) have sought to mitigate the impact of such outlier dimensions and force LLMs to be isotropic (i.e., have uniform variance across all dimensions in embedding space). Isotropy is thought to be a desirable property for LLMs that improves model performance and more closely aligns textual representations with human intuition. However, many of the claims regarding isotropy in NLP have been based on the average cosine similarity of embeddings, which has recently been shown to be a flawed measure of isotropy. In this paper, we propose I-STAR: IsoScore*-based STable Anisotropic Regularization, a novel regularization method that can be used to increase or decrease levels of isotropy in embedding space during training. I-STAR uses IsoScore*, the first accurate measure of isotropy that is both differentiable and stable on mini-batch computations. In contrast to several previous works, we find that decreasing isotropy in contextualized embeddings improves performance on the majority of tasks and models considered in this paper.
Deep Stochastic Mechanics
Venue: arXiv cs.LG 2024
Year: 2024

This paper introduces a novel deep-learning-based approach for numerical simulation of a time-evolving Schrödinger equation inspired by stochastic mechanics and generative diffusion models. Unlike existing approaches, which exhibit computational complexity that scales exponentially in the problem dimension, our method allows us to adapt to the latent low-dimensional structure of the wave function by sampling from the Markovian diffusion. Depending on the latent dimension, our method may have far lower computational complexity in higher dimensions. Moreover, we propose novel equations for stochastic quantum mechanics, resulting in quadratic computational complexity with respect to the number of dimensions. Numerical simulations verify our theoretical findings and show a significant advantage of our method compared to other deep-learning-based approaches used for quantum mechanics.
Med-UniC: Unifying Cross-Lingual Medical Vision-Language Pre-Training by Diminishing Bias
Venue: arXiv cs.CL 2024
Year: 2024

The scarcity of data presents a critical obstacle to the efficacy of medical visionlanguage pre-training (VLP). A potential solution lies in the combination of datasets from various language communities. Nevertheless, the main challenge stems from the complexity of integrating diverse syntax and semantics, language-specific medical terminology, and culture-specific implicit knowledge. Therefore, one crucial aspect to consider is the presence of community bias caused by different languages. This paper presents a novel framework named Unifying Cross-Lingual Medical Vision-Language Pre-Training (Med-UniC), designed to integrate multimodal medical data from the two most prevalent languages, English and Spanish. Specifically, we propose Cross-lingual Text Alignment Regularization (CTR) to explicitly unify cross-lingual semantic representations of medical reports originating from diverse language communities. CTR is optimized through latent language disentanglement, rendering our optimization objective to not depend on negative samples, thereby significantly mitigating the bias from determining positive-negative sample pairs within analogous medical reports. Furthermore, it ensures that the cross-lingual representation is not biased toward any specific language community. Med-UniC reaches superior performance across 5 medical image tasks and 10 datasets encompassing over 30 diseases, offering a versatile framework for unifying multi-modal medical data within diverse linguistic communities. The experimental outcomes highlight the presence of community bias in cross-lingual VLP. Reducing this bias enhances the performance not only in vision-language tasks but also in uni-modal visual tasks.
Orbit recovery for band-limited functions
Venue: arXiv cs.IT 2024
Year: 2024

We study the third moment for functions on arbitrary compact Lie groups. We use techniques of representation theory to generalize the notion of band-limited functions in classical Fourier theory to functions on the compact groups $SU(n), SO(n), Sp(n)$. We then prove that for generic band-limited functions the third moment or, its Fourier equivalent, the bispectrum determines the function up to translation by a single unitary matrix. Moreover, if $G=SU(n)$ or $G=SO(2n+1)$ we prove that the third moment determines the $G$-orbit of a band-limited function. As a corollary we obtain a large class of finite-dimensional representations of these groups for which the third moment determines the orbit of a generic vector. When $G=SO(3)$ this gives a result relevant to cryo-EM which was our original motivation for studying this problem.